Abstract
In the present paper, a new multi-loop-cascaded governor is proposed for hydro turbine controls. A turbine model is obtained that covers the effects of the water hammer, travelling waves, inelastic water penstocks and head loss due to the friction. Plant parameter uncertainties are taken into account to investigate stability robustness. The polynomial H∞ robust control design method is used to design the multi-loop-cascaded governor. Water and load disturbance, and permanent oscillations in the power systems such as inter-area modes are included in the robust design procedure. Robust performance is achieved by using parameterised dynamic weighting functions of the design theory. The designed governor ensures that the overall system remains asymptotically stable for all norm-bounded uncertainties. Simulation results show that the system performance specifications and stability margins are improved significantly even in the presence of parameter uncertainties.
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